armarx::CartesianNaturalPositionControllerConfig
Overview
struct CartesianNaturalPositionControllerConfig
Used By
- NJointCartesianNaturalPositionControllerConfig::runCfg
- NJointCartesianNaturalPositionControllerInterface::setConfig
Data Member Index
- maxPositionAcceleration
-
- maxOrientationAcceleration
-
- maxNullspaceAcceleration
-
- maxJointVelocity
-
- maxNullspaceVelocity
-
- jointCosts
-
- jointLimitAvoidanceKp
-
- elbowKp
-
- nullspaceTargetKp
-
- thresholdOrientationNear
-
- thresholdOrientationReached
-
- thresholdPositionNear
-
- thresholdPositionReached
-
- maxTcpPosVel
-
- maxTcpOriVel
-
- maxElbPosVel
-
- KpOri
-
- KpPos
-
Data Members
- float maxPositionAcceleration;
- float maxOrientationAcceleration;
- float maxNullspaceAcceleration;
- ::Ice::FloatSeq maxJointVelocity;
- ::Ice::FloatSeq maxNullspaceVelocity;
- ::Ice::FloatSeq jointCosts;
- float jointLimitAvoidanceKp;
- float elbowKp;
- float nullspaceTargetKp;
- float thresholdOrientationNear;
- float thresholdOrientationReached;
- float thresholdPositionNear;
- float thresholdPositionReached;
- float maxTcpPosVel;
- float maxTcpOriVel;
- float maxElbPosVel;
- float KpOri;
- float KpPos;